Merge pull request #85 from Gregwar/robotis

Adding support for cm900 and opencm904 boards (robotis)

4 files changed, 441 insertions, 0 deletions

diff --git a/wirish/boards/cm900/board.cpp b/wirish/boards/cm900/board.cpp
new file mode 100644
index 0000000..ec747b3
--- /dev/null
+++ b/wirish/boards/cm900/board.cpp
@@ -0,0 +1,117 @@
+/*
+ * cm900.cpp
+ *
+ *  Created on: 2012. 10. 14.
+ *      Author: in2storm
+ */
+
+/******************************************************************************
+ * The MIT License
+ *
+ * Copyright (c) 2011 LeafLabs, LLC.
+ *
+ * Permission is hereby granted, free of charge, to any person
+ * obtaining a copy of this software and associated documentation
+ * files (the "Software"), to deal in the Software without
+ * restriction, including without limitation the rights to use, copy,
+ * modify, merge, publish, distribute, sublicense, and/or sell copies
+ * of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS
+ * BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
+ * ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ *****************************************************************************/
+
+/**
+ * @file   maple.cpp
+ * @author Marti Bolivar <mbolivar@leaflabs.com>
+ * @brief  Maple PIN_MAP and boardInit().
+ */
+
+#include <board/board.h>         // For this board's header file
+
+#include <wirish/wirish_types.h> // For stm32_pin_info and its contents
+                                 // (these go into PIN_MAP).
+
+#include "boards_private.h"      // For PMAP_ROW(), which makes
+                                 // PIN_MAP easier to read.
+
+
+
+void boardInit(void) {
+	afio_cfg_debug_ports(AFIO_DEBUG_SW_ONLY); //[ROBOTIS] 2013-07-17
+	//[ROBOTIS][CHANGE] add here if you want to initialize something
+	gpio_set_mode(GPIOB, 2, GPIO_OUTPUT_PP);
+	gpio_write_bit(GPIOB, 2,1); //LED off when start board
+}
+
+extern const stm32_pin_info PIN_MAP[BOARD_NR_GPIO_PINS] = {
+
+    /* Top header */
+	{GPIOA, TIMER2, ADC1,  0, 1,    0}, /* D0/PA0 */
+	{GPIOA, TIMER2, ADC1,  1, 2,    1}, /* D1/PA1 */
+	{GPIOA, TIMER2, ADC1,  2, 3,    2}, /* D2/PA2 */
+	{GPIOA, TIMER2, ADC1,  3, 4,    3}, /* D3/PA3 */
+	{GPIOA,   NULL, ADC1,  4, 0,    4}, /* D4/PA4 */
+	{GPIOA,   NULL, ADC1,  5, 0,    5}, /* D5/PA5 */
+	{GPIOA, TIMER3, ADC1,  6, 1,    6}, /* D6/PA6 */
+	{GPIOA, TIMER3, ADC1,  7, 2,    7}, /* D7/PA7 */
+	{GPIOA, TIMER1, NULL,  8, 1, ADCx}, /* D8/PA8 */
+	{GPIOA, TIMER1, NULL,  9, 2, ADCx}, /* D9/PA9 */
+
+	{GPIOA, TIMER1, NULL, 10, 3, ADCx}, /* D10/PA10 */
+	{GPIOA,   NULL, NULL, 13, 0, ADCx}, /* D11/PA13 */
+	{GPIOA,   NULL, NULL, 14, 0, ADCx}, /* D12/PA14 */
+	{GPIOA,   NULL, NULL, 15, 0, ADCx}, /* D13/PA15 */
+	{GPIOB, TIMER3, ADC1,  0, 3,    8}, /* D14/PB0 */
+	{GPIOB, TIMER3, ADC1,  1, 4,    9}, /* D15/PB1 */
+	{GPIOB,   NULL, NULL,  2, 0, ADCx}, /* D16/PB2 (LED)*/
+	{GPIOB,   NULL, NULL,  3, 0, ADCx}, /* D17/PB3  */
+	{GPIOB,   NULL, NULL,  4, 0, ADCx}, /* D18/PB4  */
+	{GPIOB,   NULL, NULL,  5, 0, ADCx}, /* D19/PB5 DIR_485 */
+
+	{GPIOB, TIMER4, NULL,  6, 1, ADCx}, /* D20/PB6 DXL_TX (Writing to dynamixel bus) */
+	{GPIOB, TIMER4, NULL,  7, 2, ADCx}, /* D21/PB7 DXL_RX (Receiving from dynamixel bus) */
+	{GPIOB, TIMER4, NULL,  8, 3, ADCx}, /* D22/PB8 */
+	{GPIOB, TIMER4, NULL,  9, 4, ADCx}, /* D23/PB9 */
+	{GPIOB,   NULL, NULL, 10, 0, ADCx}, /* D24/PB10 */
+	{GPIOB,   NULL, NULL, 11, 0, ADCx}, /* D25/PB11 */
+	{GPIOB,   NULL, NULL, 12, 0, ADCx}, /* D26/PB12 */
+	{GPIOB,   NULL, NULL, 13, 0, ADCx}, /* D27/PB13 */
+	{GPIOB,   NULL, NULL, 14, 0, ADCx}, /* D28/PB14 */
+	{GPIOB,   NULL, NULL, 15, 0, ADCx}, /* D29/PB15 */
+
+	//{GPIOC,   NULL, NULL, 13, 0, ADCx}, /* --/PC13 */
+	{GPIOC,   NULL, NULL, 14, 0, ADCx}, /* D30/PC14 */
+	{GPIOC,   NULL, NULL, 15, 0, ADCx} /* D31/PC15 */
+
+
+    /* JTAG header */
+
+    //{GPIOA,   NULL, NULL, 13, 0, ADCx}, /* D13/PA13 */
+    //{GPIOA,   NULL, NULL, 14, 0, ADCx}, /* D14/PA14 */
+    //{GPIOA,   NULL, NULL, 15, 0, ADCx}, /* D15/PA15 */
+    //{GPIOB,   NULL, NULL,  3, 0, ADCx}, /* D17/PB3  */
+    //{GPIOB,   NULL, NULL,  4, 0, ADCx}, /* D18/PB4  */
+};
+
+extern const uint8 boardPWMPins[] __FLASH__ = {
+    0, 1, 2, 3, 6, 7, 8, 9, 10, 14, 15, 20, 21, 22, 23
+};
+
+extern const uint8 boardADCPins[] __FLASH__ = {
+    0, 1, 2, 3, 4, 5, 6, 7, 14, 15
+};
+
+extern const uint8 boardUsedPins[] __FLASH__ = {
+    BOARD_LED_PIN
+};
diff --git a/wirish/boards/cm900/include/board/board.h b/wirish/boards/cm900/include/board/board.h
new file mode 100644
index 0000000..fed1a1b
--- /dev/null
+++ b/wirish/boards/cm900/include/board/board.h
@@ -0,0 +1,107 @@
+
+/******************************************************************************
+ * The MIT License
+ *
+ * Copyright (c) 2011 LeafLabs, LLC.
+ *
+ * Permission is hereby granted, free of charge, to any person
+ * obtaining a copy of this software and associated documentation
+ * files (the "Software"), to deal in the Software without
+ * restriction, including without limitation the rights to use, copy,
+ * modify, merge, publish, distribute, sublicense, and/or sell copies
+ * of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS
+ * BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
+ * ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ *****************************************************************************/
+
+
+/*
+ * CM900.h
+ *
+ *  Created on: 2012. 10. 14.
+ *      Author: ROBOTIS[sm6787@robotis.com]
+ *      ported from maple.h(leaflabs.com)
+ *      @brief  Private include file for cm-900 in boards.h
+ */
+
+#ifndef CM_900_H_
+#define CM_900_H_
+
+//#include "gpio.h"
+
+
+#define CYCLES_PER_MICROSECOND  72
+#define SYSTICK_RELOAD_VAL      71999 /* takes a cycle to reload */
+/*
+ * [ROBOTIS][CHANGE] CM-900 Do not have built-in button.
+ * 2013-04-22
+ * */
+#define BOARD_BUTTON_PIN        23//38
+#define BOARD_LED_PIN           16
+
+/* Number of USARTs/UARTs whose pins are broken out to headers */
+//#define BOARD_NR_USARTS         3
+
+/* Default USART pin numbers (not considering AFIO remap) */
+#define BOARD_USART1_TX_PIN     9   //D9(PA9)
+#define BOARD_USART1_RX_PIN     10	//D10(PA10)
+#define BOARD_USART2_TX_PIN     2	//D2 (PA2)
+#define BOARD_USART2_RX_PIN     3	//D3 (PA3)
+#define BOARD_USART3_TX_PIN     24	//D24 (PB10)
+#define BOARD_USART3_RX_PIN     25	//D25 (PB11)
+
+/* Number of SPI ports */
+//#define BOARD_NR_SPI            2
+
+/* Default SPI pin numbers (not considering AFIO remap) */
+#define BOARD_SPI1_NSS_PIN      10 //D10 (PA4)
+#define BOARD_SPI1_MOSI_PIN     11 //D11 PA7
+#define BOARD_SPI1_MISO_PIN     12 //D12 PA6
+#define BOARD_SPI1_SCK_PIN      13 //D13 PA5
+#define BOARD_SPI2_NSS_PIN      26 //D26 PB12
+#define BOARD_SPI2_MOSI_PIN     29 //D29 PB15
+#define BOARD_SPI2_MISO_PIN     28 //D28 PB14
+#define BOARD_SPI2_SCK_PIN      27 //D27 PB13
+
+/* Total number of GPIO pins that are broken out to headers and
+ * intended for general use. */
+#define BOARD_NR_GPIO_PINS      32//44
+
+/* Number of pins capable of PWM output */
+#define BOARD_NR_PWM_PINS       15
+
+/* Number of pins capable of ADC conversion */
+#define BOARD_NR_ADC_PINS       10
+
+/* Number of pins already connected to external hardware.  For Maple,
+ * these are just BOARD_LED_PIN and BOARD_BUTTON_PIN. */
+#define BOARD_NR_USED_PINS       1
+
+/* Debug port pins */
+#define BOARD_JTMS_SWDIO_PIN    11
+#define BOARD_JTCK_SWCLK_PIN    12
+#define BOARD_JTDI_PIN          13
+#define BOARD_JTDO_PIN          17
+#define BOARD_NJTRST_PIN        18
+
+#define BOARD_USB_DISC_DEV      GPIOC
+#define BOARD_USB_DISC_BIT      13
+
+void boardInit(void);
+
+#define BOARD_DYNAMIXEL_DIR     19
+#define BOARD_DYNAMIXEL_TX      20
+#define BOARD_DYNAMIXEL_RX      21
+
+#endif /* CM_900_H_ */
diff --git a/wirish/boards/opencm904/board.cpp b/wirish/boards/opencm904/board.cpp
new file mode 100644
index 0000000..b3c600b
--- /dev/null
+++ b/wirish/boards/opencm904/board.cpp
@@ -0,0 +1,112 @@
+/******************************************************************************
+ * The MIT License
+ *
+ * Copyright (c) 2011 LeafLabs, LLC.
+ *
+ * Permission is hereby granted, free of charge, to any person
+ * obtaining a copy of this software and associated documentation
+ * files (the "Software"), to deal in the Software without
+ * restriction, including without limitation the rights to use, copy,
+ * modify, merge, publish, distribute, sublicense, and/or sell copies
+ * of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS
+ * BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
+ * ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ *****************************************************************************/
+
+/**
+ * @file   maple.cpp
+ * @author Marti Bolivar <mbolivar@leaflabs.com>
+ * @brief  Maple PIN_MAP and boardInit().
+ */
+/*
+ *  CM904.cpp ported from CM900.cpp
+ *
+ *  Created on: 2013. 5. 22.
+ *      Author: in2storm
+ */
+
+#include <board/board.h>         // For this board's header file
+
+#include <wirish/wirish_types.h> // For stm32_pin_info and its contents
+                                 // (these go into PIN_MAP).
+
+#include "boards_private.h"      // For PMAP_ROW(), which makes
+
+
+void boardInit(void) {
+
+	afio_cfg_debug_ports(AFIO_DEBUG_SW_ONLY); //[ROBOTIS] 2013-07-17
+
+	//[ROBOTIS][CHANGE] add here if you want to initialize something
+	gpio_set_mode(GPIOB, 9, GPIO_OUTPUT_PP);
+	gpio_write_bit(GPIOB, 9,1); //LED off when start board
+}
+
+extern const stm32_pin_info PIN_MAP[BOARD_NR_GPIO_PINS] = {
+   /* Top header */
+	{GPIOA,   NULL, ADC1,  4, 0,    4}, /* D0/PA4 */
+	{GPIOA,   NULL, ADC1,  5, 0,    5}, /* D1/PA5  */
+	{GPIOA, TIMER2, ADC1,  0, 1,    0}, /* D2/PA0 */
+	{GPIOA, TIMER2, ADC1,  1, 2,    1}, /* D3/PA1 */
+	{GPIOA, TIMER2, ADC1,  2, 3,    2}, /* D4/PA2 */
+	{GPIOA, TIMER2, ADC1,  3, 4,    3}, /* D5/PA3 */
+	{GPIOA, TIMER3, ADC1,  6, 1,    6}, /* D6/PA6 */
+	{GPIOA, TIMER3, ADC1,  7, 2,    7}, /* D7/PA7 */
+	{GPIOB, TIMER3, ADC1,  0, 3,    8}, /* D8/PB0 */
+	{GPIOB, TIMER3, ADC1,  1, 4,    9}, /* D9/PB1 */
+
+	{GPIOA, TIMER1, NULL,  8, 1, ADCx}, /* D10/PA8 */
+	{GPIOA, TIMER1, NULL,  9, 2, ADCx}, /* D11/PA9 */
+	{GPIOA, TIMER1, NULL, 10, 3, ADCx}, /* D12/PA10 */
+	{GPIOB, TIMER4, NULL,  8, 3, ADCx}, /* D13/PB8 */
+	{GPIOB, TIMER4, NULL,  9, 4, ADCx}, /* D14/PB9 (LED)*/
+//	{GPIOA,   NULL, NULL, 13, 0, ADCx}, /* D15/PA13 */
+//	{GPIOA,   NULL, NULL, 14, 0, ADCx}, /* D16/PA14 */
+	{GPIOA,   NULL, NULL, 15, 0, ADCx}, /* D15/PA15 */
+	{GPIOB,   NULL, NULL,  3, 0, ADCx}, /* D16/PB3  */
+	{GPIOB,   NULL, NULL,  4, 0, ADCx}, /* D17/PB4  */
+	{GPIOB,   NULL, NULL, 12, 0, ADCx}, /* D18/PB12 */	
+	{GPIOB,   NULL, NULL, 13, 0, ADCx}, /* D19/PB13 */
+	
+	{GPIOB,   NULL, NULL, 14, 0, ADCx}, /* D20/PB14 */
+	{GPIOB,   NULL, NULL, 15, 0, ADCx}, /* D21/PB15 */
+	{GPIOC,   NULL, NULL, 14, 0, ADCx}, /* D22/PC14 */
+	{GPIOC,   NULL, NULL, 15, 0, ADCx}, /* D23/PC15 (User Button)*/
+	{GPIOB,   NULL, NULL, 10, 0, ADCx}, /* D24/PB10 */
+	{GPIOB,   NULL, NULL, 11, 0, ADCx}, /* D25/PB11 */
+/*
+ * Hidden pin map
+ * the below pins are used carefully, need to check schematic of OpenCM9.04
+ * */
+	{GPIOA,   NULL, NULL, 13, 0, ADCx}, /* D26/PA13 JTAG SWDIO*/
+	{GPIOA,   NULL, NULL, 14, 0, ADCx}, /* D27/PA14 JTAG SWDCLK*/
+	{GPIOB,   NULL, NULL,  5, 0, ADCx}, /* D28/PB5 DXL DIR*/
+	{GPIOB, TIMER4, NULL,  6, 1, ADCx}, /* D29/PB6 DXL TXD*/
+	{GPIOB, TIMER4, NULL,  7, 2, ADCx} /* D30/PB7 DXL RXD -> dont work as output and input*/
+
+};
+
+extern const uint8 boardPWMPins[] __FLASH__ = {
+    2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 27, 28
+};
+
+extern const uint8 boardADCPins[] __FLASH__ = {
+    0, 1, 2, 3, 4, 5, 6, 7, 8, 9
+};
+
+extern const uint8 boardUsedPins[] __FLASH__ = {
+    BOARD_LED_PIN, BOARD_BUTTON_PIN
+};
+
+
diff --git a/wirish/boards/opencm904/include/board/board.h b/wirish/boards/opencm904/include/board/board.h
new file mode 100644
index 0000000..274a2a7
--- /dev/null
+++ b/wirish/boards/opencm904/include/board/board.h
@@ -0,0 +1,105 @@
+/*
+ * The MIT License
+ *
+ * Copyright (c) 2011 LeafLabs, LLC.
+ *
+ * Permission is hereby granted, free of charge, to any person
+ * obtaining a copy of this software and associated documentation
+ * files (the "Software"), to deal in the Software without
+ * restriction, including without limitation the rights to use, copy,
+ * modify, merge, publish, distribute, sublicense, and/or sell copies
+ * of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS
+ * BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
+ * ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ *****************************************************************************/
+
+
+/*
+ * CM904.h
+ *
+ *  Created on: 2013. 05. 22.
+ *      Author: ROBOTIS[sm6787@robotis.com]
+ *      ported from maple.h(leaflabs.com)
+ *      @brief  Private include file for cm-904 in boards.h
+ */
+#ifndef CM904_H_
+#define CM904_H_
+
+//#include "gpio.h"
+
+
+#define CYCLES_PER_MICROSECOND  72
+#define SYSTICK_RELOAD_VAL      71999 /* takes a cycle to reload */
+/*
+ * [ROBOTIS][CHANGE]2013-04-22 CM-900 Do not have built-in button.
+ * 2013-08-03 CM-9.04 has built-in button -> inserted it again.
+ * */
+#define BOARD_BUTTON_PIN        23//PC15
+#define BOARD_LED_PIN           14//PB9
+//#define BOOT1_PIN				28// added
+
+/* Total number of GPIO pins that are broken out to headers and
+ * intended for general use. */
+#define BOARD_NR_GPIO_PINS      31
+
+/* Number of pins capable of PWM output */
+#define BOARD_NR_PWM_PINS       15
+
+/* Number of pins capable of ADC conversion */
+#define BOARD_NR_ADC_PINS       10
+
+/* Number of pins already connected to external hardware.  For Maple,
+ * these are just BOARD_LED_PIN and BOARD_BUTTON_PIN. */
+#define BOARD_NR_USED_PINS       2
+
+/* Number of USARTs/UARTs whose pins are broken out to headers */
+//#define BOARD_NR_USARTS         3
+
+/* Default USART pin numbers (not considering AFIO remap) */
+#define BOARD_USART1_TX_PIN     11   //D9(PA9)
+#define BOARD_USART1_RX_PIN     12	//D10(PA10)
+#define BOARD_USART2_TX_PIN     4	//D2 (PA2)
+#define BOARD_USART2_RX_PIN     5	//D3 (PA3)
+#define BOARD_USART3_TX_PIN     24	//D24 (PB10)
+#define BOARD_USART3_RX_PIN     25	//D25 (PB11)
+
+/* Number of SPI ports */
+//#define BOARD_NR_SPI            2
+
+/* Default SPI pin numbers (not considering AFIO remap) */
+#define BOARD_SPI1_NSS_PIN      0 //D10 (PA4)
+#define BOARD_SPI1_MOSI_PIN     7 //D11 PA7
+#define BOARD_SPI1_MISO_PIN     6 //D12 PA6
+#define BOARD_SPI1_SCK_PIN      1 //D13 PA5
+#define BOARD_SPI2_NSS_PIN      18 //D26 PB12
+#define BOARD_SPI2_MOSI_PIN     21 //D29 PB15
+#define BOARD_SPI2_MISO_PIN     20 //D28 PB14
+#define BOARD_SPI2_SCK_PIN      19 //D27 PB13
+
+#define BOARD_USB_DISC_DEV      GPIOC
+#define BOARD_USB_DISC_BIT      13
+
+void boardInit(void);
+
+#define BOARD_DYNAMIXEL_DIR     28
+#define BOARD_DYNAMIXEL_TX      29
+#define BOARD_DYNAMIXEL_RX      30
+
+#define BOARD_JTMS_SWDIO_PIN      26
+#define BOARD_JTCK_SWCLK_PIN      27
+#define BOARD_JTDI_PIN            15
+#define BOARD_JTDO_PIN            16
+#define BOARD_NJTRST_PIN          17
+
+#endif /* CM904_H_ */